/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#include "SpherePoseSampler.hpp"

using namespace rw::kinematics;
using namespace rw::math;
using namespace rwsim::util;

SpherePoseSampler::SpherePoseSampler(MovableFrame* mframe,
                                     const Vector3D<>& wPc,
                                     State& initState) :
    _mframe(mframe),
    _wPc(wPc),
    _initState(initState)
{
}

SpherePoseSampler::~SpherePoseSampler()
{
}

void SpherePoseSampler::setRPYNoiseBound(const rw::math::RPY<>& low, const rw::math::RPY<>& upper){

}

void SpherePoseSampler::setPosNoiseBound(const rw::math::Vector3D<>& low, const rw::math::Vector3D<>& upper){

}


bool SpherePoseSampler::sample(State& state)
{
    return true;
}


bool SpherePoseSampler::empty() const{ return false; }
